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Merge branch 'common_solver' of https://github.com/gnss-sdr/gnss-sdr into rtklib_2.4.2

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This commit is contained in:
Carles Fernandez 2017-05-05 13:51:50 +02:00
commit 459abd29a7
2 changed files with 23 additions and 9 deletions
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9
src/algorithms/PVT/libs/rtklib_solver.cc
View File

@ -185,7 +185,6 @@ bool rtklib_solver::get_PVT(std::map<int,Gnss_Synchro> gnss_observables_map, dou
gnss_observables_iter->second, gnss_observables_iter->second,
gps_cnav_ephemeris_iter->second.i_GPS_week, gps_cnav_ephemeris_iter->second.i_GPS_week,
1);//Band 2 (L2) 1);//Band 2 (L2)
std::cout<<"L2 observation attached!"<<std::endl;
break; break;
} }
} }
@ -218,7 +217,6 @@ bool rtklib_solver::get_PVT(std::map<int,Gnss_Synchro> gnss_observables_map, dou
// ********************************************************************** // **********************************************************************
// ****** SOLVE PVT****************************************************** // ****** SOLVE PVT******************************************************
// ********************************************************************** // **********************************************************************
d_valid_observations = valid_obs;
b_valid_position = false; b_valid_position = false;
if (valid_obs>0) if (valid_obs>0)
@ -231,6 +229,7 @@ bool rtklib_solver::get_PVT(std::map<int,Gnss_Synchro> gnss_observables_map, dou
{ {
nav_data.lam[i][0]=SPEED_OF_LIGHT/FREQ1; /* L1/E1 */ nav_data.lam[i][0]=SPEED_OF_LIGHT/FREQ1; /* L1/E1 */
nav_data.lam[i][1]=SPEED_OF_LIGHT/FREQ2; /* L2 */ nav_data.lam[i][1]=SPEED_OF_LIGHT/FREQ2; /* L2 */
nav_data.lam[i][2]=SPEED_OF_LIGHT/FREQ5; /* L2 */
} }
result = rtkpos(&rtk_, obs_data, valid_obs, &nav_data); result = rtkpos(&rtk_, obs_data, valid_obs, &nav_data);
@ -238,7 +237,9 @@ bool rtklib_solver::get_PVT(std::map<int,Gnss_Synchro> gnss_observables_map, dou
{ {
LOG(INFO)<<"RTKLIB rtkpos error message: "<<rtk_.errbuf; LOG(INFO)<<"RTKLIB rtkpos error message: "<<rtk_.errbuf;
d_rx_dt_s = 0; //reset rx time estimation d_rx_dt_s = 0; //reset rx time estimation
d_valid_observations = 0;
}else{ }else{
d_valid_observations=rtk_.sol.ns; //record the number of valid satellites used by the PVT solver
pvt_sol=rtk_.sol; pvt_sol=rtk_.sol;
b_valid_position=true; b_valid_position=true;
arma::vec rx_position_and_time(4); arma::vec rx_position_and_time(4);
@ -248,7 +249,7 @@ bool rtklib_solver::get_PVT(std::map<int,Gnss_Synchro> gnss_observables_map, dou
rx_position_and_time(3)=pvt_sol.dtr[0]; rx_position_and_time(3)=pvt_sol.dtr[0];
d_rx_pos = rx_position_and_time.rows(0, 2); // save ECEF position for the next iteration d_rx_pos = rx_position_and_time.rows(0, 2); // save ECEF position for the next iteration
d_rx_dt_s += rx_position_and_time(3) / GPS_C_m_s; // accumulate the rx time error for the next iteration [meters]->[seconds] d_rx_dt_s += rx_position_and_time(3) / GPS_C_m_s; // accumulate the rx time error for the next iteration [meters]->[seconds]
DLOG(INFO) << "Hybrid Position at TOW=" << Rx_time << " in ECEF (X,Y,Z,t[meters]) = " << rx_position_and_time; DLOG(INFO) << "RTKLIB Position at TOW=" << Rx_time << " in ECEF (X,Y,Z,t[meters]) = " << rx_position_and_time;
boost::posix_time::ptime p_time; boost::posix_time::ptime p_time;
gtime_t rtklib_utc_time=gpst2utc(pvt_sol.time); gtime_t rtklib_utc_time=gpst2utc(pvt_sol.time);
@ -257,7 +258,7 @@ bool rtklib_solver::get_PVT(std::map<int,Gnss_Synchro> gnss_observables_map, dou
d_position_UTC_time = p_time; d_position_UTC_time = p_time;
cart2geo(static_cast<double>(rx_position_and_time(0)), static_cast<double>(rx_position_and_time(1)), static_cast<double>(rx_position_and_time(2)), 4); cart2geo(static_cast<double>(rx_position_and_time(0)), static_cast<double>(rx_position_and_time(1)), static_cast<double>(rx_position_and_time(2)), 4);
DLOG(INFO) << "Hybrid Position at " << boost::posix_time::to_simple_string(p_time) DLOG(INFO) << "RTKLIB Position at " << boost::posix_time::to_simple_string(p_time)
<< " is Lat = " << d_latitude_d << " [deg], Long = " << d_longitude_d << " is Lat = " << d_latitude_d << " [deg], Long = " << d_longitude_d
<< " [deg], Height= " << d_height_m << " [m]" << " RX time offset= " << d_rx_dt_s << " [s]"; << " [deg], Height= " << d_height_m << " [m]" << " RX time offset= " << d_rx_dt_s << " [s]";

23
src/algorithms/libs/rtklib/rtklib_rtkcmn.cc
View File

@ -454,13 +454,25 @@ int satexclude(int sat, int svh, const prcopt_t *opt)
{ {
int sys = satsys(sat, NULL); int sys = satsys(sat, NULL);
if (svh<0) return 1; /* ephemeris unavailable */ if (svh<0)
{
trace(3, "ephemeris unavailable: sat=%3d svh=%02X\n", sat, svh);
return 1; /* ephemeris unavailable */
}
if (opt) if (opt)
{ {
if (opt->exsats[sat-1] == 1) return 1; /* excluded satellite */ if (opt->exsats[sat-1] == 1)
{
trace(3, "excluded satellite: sat=%3d svh=%02X\n", sat, svh);
return 1; /* excluded satellite */
}
if (opt->exsats[sat-1] == 2) return 0; /* included satellite */ if (opt->exsats[sat-1] == 2) return 0; /* included satellite */
if (!(sys&opt->navsys)) return 1; /* unselected sat sys */ if (!(sys&opt->navsys))
{
trace(3, "unselected sat sys: sat=%3d svh=%02X\n", sat, svh);
return 1; /* unselected sat sys */
}
} }
if (sys == SYS_QZS) svh&=0xFE; /* mask QZSS LEX health */ if (sys == SYS_QZS) svh&=0xFE; /* mask QZSS LEX health */
if (svh) if (svh)
@ -3132,11 +3144,12 @@ void traceobs(int level __attribute__((unused)), const obsd_t *obs __attribute__
//void tracelevel(int level) {} //void tracelevel(int level) {}
void trace (int level __attribute__((unused)), const char *format __attribute__((unused)), ...) void trace (int level __attribute__((unused)), const char *format __attribute__((unused)), ...)
{ {
/* va_list ap;*/ /*va_list ap;*/
/* print error message to stderr */ /* print error message to stderr */
/*printf("RTKLIB TRACE[%i]:",level); /*printf("RTKLIB TRACE[%i]:",level);
va_start(ap,format); va_start(ap,format);
vfprintf(stdout,format,ap); va_end(ap);*/ vfprintf(stdout,format,ap);
va_end(ap);*/
} }
//void tracet (int level, const char *format, ...) {} //void tracet (int level, const char *format, ...) {}
//void tracemat(int level, const double *A, int n, int m, int p, int q) {} //void tracemat(int level, const double *A, int n, int m, int p, int q) {}